aoa_t4.h File Reference

Angle of Attack and optionally Sideslip Angle sensor using T4 Actuators Board and a modified serial bus servo The servo as AOA sensor must be of hall effect type and have motor and gears removed to minimize friction and this solution to work. More...

#include "std.h"

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Data Structures
struct	Aoa_T4

Enumerations
enum	Aoa_Type { SEND_TYPE_AOA , SEND_TYPE_SIDESLIP }
	Selection of sensor type to be send over telemetry for debugging or online logging. More...

Functions
void	aoa_t4_init (void)
void	aoa_t4_update (void)
void	aoa_t4_init_filters (void)

Variables
struct Aoa_T4	aoa_t4
struct Aoa_T4	ssa_t4
enum Aoa_Type	aoa_send_type
float	aoa_t4_a1
float	aoa_t4_b1
float	aoa_t4_a2
float	aoa_t4_b2

Detailed Description

Angle of Attack and optionally Sideslip Angle sensor using T4 Actuators Board and a modified serial bus servo The servo as AOA sensor must be of hall effect type and have motor and gears removed to minimize friction and this solution to work.

Author

Sunyou Hwang, OpenUAS

Read more on how to create your own T4 Board here: https://github.com/tudelft/t4_actuators_board/

SENSOR, example : Feetech 3032 Serial Bus Servo

Definition in file aoa_t4.h.

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Data Structure Documentation

Aoa_T4

struct Aoa_T4

Definition at line 39 of file aoa_t4.h.

Data Fields
float	angle	Angle of attack in radians after applying direction and offset.
float	filter	Filter level for sensor output, where 0.0 is no filtering and 0.95 for extreme filtering, were 1.0 would output an (useless) constant value.
float	offset	Angle of attack offset in radians.
uint32_t	raw	Measurement in degrees times 100 from the sensor before applying direction and offset and unit scale conversion.

Enumeration Type Documentation

Aoa_Type

enum Aoa_Type

Selection of sensor type to be send over telemetry for debugging or online logging.

Enumerator
SEND_TYPE_AOA
SEND_TYPE_SIDESLIP

Definition at line 52 of file aoa_t4.h.

Function Documentation

aoa_t4_init()

void aoa_t4_init

(

void

)

Definition at line 299 of file aoa_t4.c.

References ABI_BROADCAST, actuators_t4_abi_in(), ACTUATORS_T4_IN, Aoa_T4::angle, aoa_send_type, aoa_t4, AOA_T4_FILTER, aoa_t4_init_filters(), AOA_T4_OFFSET, DefaultPeriodic, Aoa_T4::filter, foo, Aoa_T4::offset, Aoa_T4::raw, register_periodic_telemetry(), send_aoa(), SEND_TYPE_AOA, ssa_t4, SSA_T4_FILTER, ssa_t4_init_filters(), and SSA_T4_OFFSET.

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aoa_t4_init_filters()

void aoa_t4_init_filters

(

void

)

Definition at line 287 of file aoa_t4.c.

References AOA_T4_FILTER, AOA_T4_FILTER_SAMPLING_TIME, aoa_t4_lowpass_filter, and init_butterworth_2_low_pass().

Referenced by aoa_t4_init().

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aoa_t4_update()

void aoa_t4_update

(

void

)

Definition at line 329 of file aoa_t4.c.

References Aoa_T4::angle, AOA_ANGLE_OFFSET, AOA_PWM_ID, aoa_t4, aoa_t4_a1, aoa_t4_a2, aoa_t4_b1, aoa_t4_b2, aoa_t4_lowpass_filter, AOA_T4_SIGN, DefaultChannel, DefaultDevice, eulers_t4, float_eulers_of_quat_zxy(), foo, Aoa_T4::offset, Aoa_T4::raw, send_aoa(), SSA_ANGLE_OFFSET, ssa_t4, SSA_T4_SIGN, stateGetNedToBodyQuat_f(), FloatEulers::theta, and update_butterworth_2_low_pass().

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Variable Documentation

aoa_send_type

enum Aoa_Type aoa_send_type

extern

Definition at line 123 of file aoa_pwm.c.

Referenced by aoa_pwm_init(), aoa_t4_init(), send_aoa(), and send_aoa().

aoa_t4

struct Aoa_T4 aoa_t4

extern

Definition at line 87 of file aoa_t4.c.

Referenced by actuators_t4_abi_in(), aoa_t4_init(), aoa_t4_update(), and send_aoa().

aoa_t4_a1

float aoa_t4_a1

extern

Definition at line 152 of file aoa_t4.c.

Referenced by aoa_t4_update().

aoa_t4_a2

float aoa_t4_a2

extern

Definition at line 154 of file aoa_t4.c.

Referenced by aoa_t4_update().

aoa_t4_b1

float aoa_t4_b1

extern

Definition at line 153 of file aoa_t4.c.

Referenced by aoa_t4_update().

aoa_t4_b2

float aoa_t4_b2

extern

Definition at line 155 of file aoa_t4.c.

Referenced by aoa_t4_update().

ssa_t4

struct Aoa_T4 ssa_t4

extern

Definition at line 145 of file aoa_t4.c.

Referenced by actuators_t4_abi_in(), aoa_t4_init(), aoa_t4_update(), and send_aoa().